\hypertarget{controller_8h}{
\section{atmega1281/mid/include/controller.h File Reference}
\label{controller_8h}\index{atmega1281/mid/include/controller.h@{atmega1281/mid/include/controller.h}}
}
{\ttfamily \#include $<$stdint.h$>$}\par
{\ttfamily \#include \char`\"{}structures.h\char`\"{}}\par
\subsection*{Defines}
\begin{DoxyCompactItemize}
\item 
\#define \hyperlink{controller_8h_af13f6102b9fe212c6f32512ae78b8532}{INLINE\_\-FUN}~extern \_\-\_\-attribute\_\-\_\-((gnu\_\-inline)) inline
\item 
\#define \hyperlink{controller_8h_aaa1ac5caef84256eaeb39594e58e096f}{MAX\_\-INT}~INT16\_\-MAX
\item 
\#define \hyperlink{controller_8h_a5535b838abf57fcd6aa71dd632c51bc8}{MAX\_\-LONG}~INT32\_\-MAX
\item 
\#define \hyperlink{controller_8h_ac375d861606f40c7616251bb33f7c9ab}{MAX\_\-I\_\-TERM}~(MAX\_\-LONG / 2)
\item 
\#define \hyperlink{controller_8h_a249e00fdccfe7edf6ebbcf22a17af4ed}{MAX\_\-VEL}~255
\item 
\#define \hyperlink{controller_8h_affa4c27f6ec6e53d164956709b90e2ca}{MAX\_\-BIAS}~MAX\_\-VEL$\ast$2
\item 
\#define \hyperlink{controller_8h_aa1a67bbb9efbd944bf6c041ba477dd7c}{MAX\_\-INTEGRAL\_\-TERM}~MAX\_\-VEL$\ast$2
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
int \hyperlink{controller_8h_a429e7178a3042c89c17e39c542019be5}{PIController} (parametersPI $\ast$pi, velocities $\ast$vels)
\item 
void \hyperlink{controller_8h_a1422cacd9ab33bf11dddbc7f087af4c3}{PI\_\-init} (parametersPI $\ast$pi)
\end{DoxyCompactItemize}


\subsection{Define Documentation}
\hypertarget{controller_8h_af13f6102b9fe212c6f32512ae78b8532}{
\index{controller.h@{controller.h}!INLINE\_\-FUN@{INLINE\_\-FUN}}
\index{INLINE\_\-FUN@{INLINE\_\-FUN}!controller.h@{controller.h}}
\subsubsection[{INLINE\_\-FUN}]{\setlength{\rightskip}{0pt plus 5cm}\#define INLINE\_\-FUN~extern \_\-\_\-attribute\_\-\_\-((gnu\_\-inline)) inline}}
\label{controller_8h_af13f6102b9fe212c6f32512ae78b8532}
\hypertarget{controller_8h_affa4c27f6ec6e53d164956709b90e2ca}{
\index{controller.h@{controller.h}!MAX\_\-BIAS@{MAX\_\-BIAS}}
\index{MAX\_\-BIAS@{MAX\_\-BIAS}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-BIAS}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-BIAS~MAX\_\-VEL$\ast$2}}
\label{controller_8h_affa4c27f6ec6e53d164956709b90e2ca}
\hypertarget{controller_8h_ac375d861606f40c7616251bb33f7c9ab}{
\index{controller.h@{controller.h}!MAX\_\-I\_\-TERM@{MAX\_\-I\_\-TERM}}
\index{MAX\_\-I\_\-TERM@{MAX\_\-I\_\-TERM}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-I\_\-TERM}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-I\_\-TERM~(MAX\_\-LONG / 2)}}
\label{controller_8h_ac375d861606f40c7616251bb33f7c9ab}
\hypertarget{controller_8h_aaa1ac5caef84256eaeb39594e58e096f}{
\index{controller.h@{controller.h}!MAX\_\-INT@{MAX\_\-INT}}
\index{MAX\_\-INT@{MAX\_\-INT}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-INT}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-INT~INT16\_\-MAX}}
\label{controller_8h_aaa1ac5caef84256eaeb39594e58e096f}
\hypertarget{controller_8h_aa1a67bbb9efbd944bf6c041ba477dd7c}{
\index{controller.h@{controller.h}!MAX\_\-INTEGRAL\_\-TERM@{MAX\_\-INTEGRAL\_\-TERM}}
\index{MAX\_\-INTEGRAL\_\-TERM@{MAX\_\-INTEGRAL\_\-TERM}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-INTEGRAL\_\-TERM}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-INTEGRAL\_\-TERM~MAX\_\-VEL$\ast$2}}
\label{controller_8h_aa1a67bbb9efbd944bf6c041ba477dd7c}
\hypertarget{controller_8h_a5535b838abf57fcd6aa71dd632c51bc8}{
\index{controller.h@{controller.h}!MAX\_\-LONG@{MAX\_\-LONG}}
\index{MAX\_\-LONG@{MAX\_\-LONG}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-LONG}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-LONG~INT32\_\-MAX}}
\label{controller_8h_a5535b838abf57fcd6aa71dd632c51bc8}
\hypertarget{controller_8h_a249e00fdccfe7edf6ebbcf22a17af4ed}{
\index{controller.h@{controller.h}!MAX\_\-VEL@{MAX\_\-VEL}}
\index{MAX\_\-VEL@{MAX\_\-VEL}!controller.h@{controller.h}}
\subsubsection[{MAX\_\-VEL}]{\setlength{\rightskip}{0pt plus 5cm}\#define MAX\_\-VEL~255}}
\label{controller_8h_a249e00fdccfe7edf6ebbcf22a17af4ed}


\subsection{Function Documentation}
\hypertarget{controller_8h_a1422cacd9ab33bf11dddbc7f087af4c3}{
\index{controller.h@{controller.h}!PI\_\-init@{PI\_\-init}}
\index{PI\_\-init@{PI\_\-init}!controller.h@{controller.h}}
\subsubsection[{PI\_\-init}]{\setlength{\rightskip}{0pt plus 5cm}void PI\_\-init (parametersPI $\ast$ {\em pi})}}
\label{controller_8h_a1422cacd9ab33bf11dddbc7f087af4c3}
\hypertarget{controller_8h_a429e7178a3042c89c17e39c542019be5}{
\index{controller.h@{controller.h}!PIController@{PIController}}
\index{PIController@{PIController}!controller.h@{controller.h}}
\subsubsection[{PIController}]{\setlength{\rightskip}{0pt plus 5cm}int PIController (parametersPI $\ast$ {\em pi}, \/  velocities $\ast$ {\em vels})}}
\label{controller_8h_a429e7178a3042c89c17e39c542019be5}
